Baldor E100 manual EnDat absolute encoder feedback, Pin Absolute encoder function

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4.1.4 EnDat (absolute encoder) feedback

The absolute encoder interface supports both incremental and absolute (multi and single turn) feedback using EnDat technology. It is possible to read and write information to the encoder. The absolute encoder connections are made using the 15-pin D-type female connector X8. Twisted pair cables must be used for the complementary signal pairs e.g. Sin+ and Sin-. The overall cable shield (screen) must be connected to the metallic shell of the D-type connector. Connector X8 includes a ‘Sense’ pin, which is used to detect the voltage drop on long cable runs. This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a 5V supply at the encoder (200mA max). Version 2.2 EnDat encoders do not use the Sin and Cos channels.

1 9

8 15

Pin Absolute encoder function

1Data+

2 Clock+

3 (NC)

4 Sense

5 Sin-

6 Sin+

7 Cos-

8 Cos+

9 Data-

10Clock-

11(NC)

12+5V out

13DGND

14(NC)

15(NC)

Absolute Encoder

Motor	Twisted pairs	X8
		1	Data+
		9	Data-
		5	Sin-
		6	Sin+
		7	Cos-
		8	Cos+
		2	Clock+
		10	Clock-
		12	+5V out	Connect internal
		13	DGND	shields to DGND.
		4	Sense
	Connect overall shield
	to connector backshells.

Figure 22 - Absolute encoder cable connections

4-10 Feedback MN1942